#include <ros/ros.h>#include "ros/time.h"#include "ros/console.h"#include "ros/assert.h"#include "ros/common.h"#include "ros/types.h"#include "ros/forwards.h"#include "ros/message.h"#include "ros/serialization.h"#include <boost/bind.hpp>#include <typeinfo>#include <boost/type_traits/is_void.hpp>#include <boost/type_traits/is_base_of.hpp>#include <boost/type_traits/is_const.hpp>#include <boost/type_traits/add_const.hpp>#include <boost/type_traits/remove_const.hpp>#include <boost/utility/enable_if.hpp>#include <boost/function.hpp>#include <boost/make_shared.hpp>#include <ros/static_assert.h>#include <boost/type_traits/remove_reference.hpp>#include "ros/message_traits.h"#include "ros/builtin_message_traits.h"#include "ros/message_event.h"#include "forwards.h"#include "timer_options.h"#include "wall_timer_options.h"#include "ros/service_traits.h"#include <boost/lexical_cast.hpp>#include "subscription_callback_helper.h"#include <boost/shared_ptr.hpp>#include "ros/spinner.h"#include <map>#include <string>#include <vector>#include <time.h>#include "ros/publisher.h"#include <boost/utility.hpp>#include "ros/service_server.h"#include "ros/subscriber.h"#include "ros/node_handle.h"#include "ros/init.h"#include "XmlRpcValue.h"#include "node_handle.h"#include "ros/names.h"#include "sensor_msgs/PointCloud.h"#include <ostream>#include "ros/message_operations.h"#include "std_msgs/Header.h"#include <iostream>#include <iomanip>#include <cmath>#include <sstream>#include <stdexcept>#include <list>#include <boost/thread/mutex.hpp>#include "geometry_msgs/Point.h"#include "geometry_msgs/Vector3.h"#include "geometry_msgs/Quaternion.h"#include "geometry_msgs/TransformStamped.h"#include "btMatrix3x3.h"#include "tf/exceptions.h"#include "LinearMath/btTransform.h"#include <boost/signals.hpp>#include "ros/ros.h"#include <boost/thread/shared_mutex.hpp>#include <boost/thread/condition_variable.hpp>#include <boost/thread/tss.hpp>#include <deque>#include "boost/thread.hpp"#include <tf/transform_datatypes.h>#include "geometry_msgs/Pose.h"#include "geometry_msgs/Twist.h"#include "geometry_msgs/PoseStamped.h"#include <tf/transform_listener.h>#include <algorithm>#include <stdio.h>#include <costmap_2d/costmap_2d.h>#include "XmlRpcDispatch.h"#include "XmlRpcSource.h"#include <costmap_2d/observation.h>#include <pcl/point_types.h>#include <pcl/point_cloud.h>#include <sensor_msgs/PointCloud2.h>#include <Eigen/Core>#include <Eigen/Geometry>#include <sensor_msgs/PointField.h>#include "pcl/ros/point_traits.h"#include <boost/mpl/is_sequence.hpp>#include <boost/mpl/begin_end.hpp>#include <boost/mpl/next_prior.hpp>#include <boost/mpl/deref.hpp>#include <boost/mpl/assert.hpp>#include <boost/mpl/aux_/unwrap.hpp>#include <boost/type_traits/is_same.hpp>#include "pcl/exceptions.h"#include <boost/foreach.hpp>#include <queue>#include <costmap_2d/cell_data.h>#include <costmap_2d/cost_values.h>#include <string.h>#include <stdlib.h>#include <stdint.h>#include <math.h>#include <limits.h>#include "geometry_msgs/Point32.h"#include <costmap_2d/VoxelGrid.h>#include <tf/tfMessage.h>#include <boost/weak_ptr.hpp>#include <ros/callback_queue.h>#include <boost/signals/connection.hpp>#include <boost/noncopyable.hpp>#include "connection.h"#include "signal1.h"#include <ros/subscription_callback_helper.h>#include "simple_filter.h"#include "boost/numeric/ublas/matrix.hpp"#include "tf/tf.h"#include "sensor_msgs/LaserScan.h"
Go to the source code of this file.
Namespaces | |
| namespace | base_local_planner |
Functions | |
| double | base_local_planner::distance (double x1, double y1, double x2, double y2) |
| Compute the distance between two points. | |
| bool | base_local_planner::goalOrientationReached (const tf::Stamped< tf::Pose > &global_pose, double goal_th, double yaw_goal_tolerance) |
| Check if the goal orientation has been achieved. | |
| bool | base_local_planner::goalPositionReached (const tf::Stamped< tf::Pose > &global_pose, double goal_x, double goal_y, double xy_goal_tolerance) |
| Check if the goal position has been achieved. | |
| bool | base_local_planner::isGoalReached (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap_ros, const std::string &global_frame, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance) |
| Check if the goal pose has been achieved. | |
| void | base_local_planner::prunePlan (const tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan) |
| Trim off parts of the global plan that are far enough behind the robot. | |
| void | base_local_planner::publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a) |
| Publish a plan for visualization purposes. | |
| bool | base_local_planner::stopped (const nav_msgs::Odometry &base_odom, const double &rot_stopped_velocity, const double &trans_stopped_velocity) |
| Check whether the robot is stopped or not. | |
| bool | base_local_planner::transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan) |
| Transforms the global plan of the robot from the planner frame to the local frame. | |